VTU e-learning Courseware Control Engineering (ME55)

STEADY STATE ERRORS IN UNITY FEEDBACK

CONTROL SYSTEMS

Errors in control systems may be attributed to many factors. Changes in the reference
input will cause unavoidable errors during transient periods, and also cause steady state
errors. Any physical control system inherently suffers from steady state error in response
to certain types of inputs. Whether a given system will exhibit steady state error for a
given input depends on the type of the open loop transfer function of the system.

Classification of Control Systems

Control systems may be classified according to their ability to follow step inputs, ramp
inputs, parabolic inputs etc. The magnitudes of the steady state errors due to these
individual inputs are indicative of the goodness of the system. Consider the unity
feedback control system with the following open loop transfer function G(s):

K T s 1 T s 1 T s 1
G s
a b m

s N T s 1 T s 1 T s 1
1 2 p

It involves the term sN in the denominator, representing the pole of multiplicity N at the
origin which also indicates the number of integrations in the open loop. A system is
called Type 0, Type 1, Type 2 . If N = 0, 1, 2, respectively. As the type number is
increased accuracy is improved; however, increasing the type number aggravates the
stability problem.

Steady State Errors

A unity feedback closed loop control system is shown in Fig.1.

R(s) E(s) C(s)

G(s)

Figure 1 Unity feedback control system

The closed loop transfer function is

Cs G s

R s 1 G s

Prof. S. C.Pilli, Principal, Session: XIII, 25/09/06

K.L.E.S. College of Engineering and Technology, Belgaum-590008.
VTU e-learning Courseware Control Engineering (ME55)

The transfer function between the error signal e(t) and input signal r(t) is
Es Cs
, Which can be rearranged as Es R s
1 1
1
R s R s 1 G s 1 G s

The final value theorem provides a convenient way to find the steady state error

sR s
e ss limet limsE s lim
t s 0 s 0 1 G s

Three types of static error constants are

1) Static position error constant Kp due to unit step input.
2) Static velocity error constant Kv due to unit ramp input.
3) Static acceleration error constant Ka due to unit parabolic input
which indicate the figures of merit of control systems.

Static Position Error Constant

The steady state error of the system for a unit step input is

s 1 1
e ss lim
s 0 1 G s s 1 G 0

The static position error constant Kp is defined by

K p lim G s G 0
s 0

Thus, the steady state error in terms of the static position error constant Kp is
given by

1
e ss
1 Kp
For a type 0 system,

K T s 1 T s 1 T s 1
K p lim
a b m
K and e ss
1
s 0
T s 1 T s 1 T s 1 1 K

1 2 p
For a type 1 or higher system
K T s 1 T s 1 T s 1
K p lim
a b m
N 1 and e ss
s 0
N
s T s 1 T s 1 T s 1
1 2 p

Prof. S. C.Pilli, Principal, Session: XIII, 25/09/06

K.L.E.S. College of Engineering and Technology, Belgaum-590008.
VTU e-learning Courseware Control Engineering (ME55)

Response of a feedback control system to a step input involves a steady state error
if there is no integration in the feed forward path. If a zero steady state error for a step
input is desired, the type of the system must be one or higher.

Static Velocity Error Constant

The steady state error of the system with a unit ramp input is given by

s 1 1
e ss lim lim
s 0 1 G s s s 0 sG s
2

The static velocity error constant Kv is defined by

K v lim sG s
s 0

Thus, the steady state error in terms of the static velocity error constant Kv is
given by

1
e ss
Kv
The term velocity error is used here to express the steady state error for a ramp
input. The velocity error is an error in position due to ramp input.

For a type 0 system,

sK T s 1 T s 1 T s 1
K v lim
a b m
0 and e ss
1

s 0
T s 1 T s 1 T s 1 Kv

1 2 p
For a type 1 system
sK T s 1 T s 1 T s 1
K v lim
a b m
K and e ss
1

1
s 0
Kv K
s T s 1 T s 1 T s 1
1 2 p

Prof. S. C.Pilli, Principal, Session: XIII, 25/09/06

K.L.E.S. College of Engineering and Technology, Belgaum-590008.
VTU e-learning Courseware Control Engineering (ME55)

For a type 2 or higher system

sK T s 1 T s 1 T s 1
K v lim
a b m
N 2 and e ss
1
0

s N T s 1 T s 1 T s 1
s 0 Kv
1 2 p

Type 0 system is incapable of following a ramp input in the steady state. Type 1
system with unity feedback can follow the ramp input with a finite error. Type 2 and
higher order systems can follow a ramp input with zero steady state error.

Static Acceleration Error Constant

The steady state error of the system with a unit parabolic input is given by

s 1 1
e ss lim lim 2
s 0 1 G s s s 0 s G s
3

The static acceleration error constant Ka is defined by

K a lim s 2 G s
s 0

Thus, the steady state error in terms of the static acceleration error constant Ka is given by
1
e ss
Ka
For a type 0 system,

s 2 K T s 1 T s 1 T s 1
K a lim a b m
0 and e ss
1

s 0
T s 1 T s 1 T s 1 Ka

1 2 p
For a type 1 system
s 2 K T s 1 T s 1 T s 1
K a lim a b m
0 and e ss
1

s 0
Ka
s T s 1 T s 1 T s 1
1 2 p
For a type 2 system
s 2 K T s 1 T s 1 T s 1
K a lim a b m
K and e ss
1

1
s 0
2 Ka K
s T s 1 T s 1 T s 1
1 2 p

Prof. S. C.Pilli, Principal, Session: XIII, 25/09/06

K.L.E.S. College of Engineering and Technology, Belgaum-590008.
VTU e-learning Courseware Control Engineering (ME55)

For a type 3 or higher system

s 2 K T s 1 T s 1 T s 1
K a lim a b m
N 3 and e ss
1
0
s 0
N Ka
s T s 1 T s 1 T s 1
1 2 p

Type 0 and type 1 systems are incapable of following a parabolic in the steady state.
Type 2 system with unity feedback can follow the parabolic input with a finite error.
Type 3 and higher order systems can follow a parabolic input with zero steady state error.

Table 1 shows the summary of error constants and steady state errors for unit step,
unit ramp and unit parabolic inputs to a unity feedback loop.

Table 1: Summary of steady state errors for unity feedback systems

Type of Error constants Steady state error ess
system Kp Kv Ka Unit step Unit ramp Unit parabolic
input input input
0 K 0 0 1/(1+K)
1 K 0 0 1/K
2 K 0 0 1/K
3 0 0 0

Note:
1) The step, ramp, parabolic error constants are significant for the error
analysis only when the input signal is a step, ramp and parabolic function
respectively.

2) Since the error constants are defined with respect to forward path transfer
function G(s), the method is applicable to a unity feedback system only.

3) Since error analysis relies on use of final value theorem, it is important

first to check to see if sE(s) has any poles on the j axis or in the right half
of s-plane.

4) Principle of superposition can be used if combination of the three basic

inputs are present.

5) If the configuration differs, we can either simplify to unity feedback

system or establish error signal and apply final value theorem.

Prof. S. C.Pilli, Principal, Session: XIII, 25/09/06

K.L.E.S. College of Engineering and Technology, Belgaum-590008.
VTU e-learning Courseware Control Engineering (ME55)

Examples:

For a negative unity feedback system determine the steady state erroe due to unit step,
unit ramp and unit parabolic input of the following systems.

i) G s
50
1 0.1s 1 2s

ii) G s
K

s s 4s 200
2

K 1 2s 1 4s
iii) G s

s 2 s 2 2s 10
Solution

1
K p lim G(s) e ss
s 0 1 Kp

1
K v lim sG(s) e ss
s 0 Kv

1
K v lim s 2 G(s) e ss
s 0 Ka
Table 2 shows the results of error constants and steady state errors.

Table 2 Results of example

Problem Error constants Steady state error ess
Kp Kv Ka Unit step Unit ramp Unit parabolic
input input input
i 50 0 0 1/51
ii K/200 0 0 200/K
iii K/10 0 0 10/K

Prof. S. C.Pilli, Principal, Session: XIII, 25/09/06

K.L.E.S. College of Engineering and Technology, Belgaum-590008.
VTU e-learning Courseware Control Engineering (ME55)

Prof. S. C.Pilli, Principal, Session: XIII, 25/09/06

K.L.E.S. College of Engineering and Technology, Belgaum-590008.